Commit 6ef12e68 authored by CANNERE Xavier's avatar CANNERE Xavier
Browse files

6.1.2

parent 7cc1b89e
ROS2 : Using
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ROS2 : 1/? Create a visual follower
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We'll learn how launch ROS1 nodes with ROS2 nodes. In this example we'll see a follower robot with a camera (same concept as the sensorfollower but he will detect target with the color) in ROS2 with a node that allows object recognition.
......@@ -8,19 +8,23 @@ Step 1 : Create the visual follower package
We'll create a new package who allow the following of a visual target called ``pkg_visu`` and a new node ``visu.cpp``::
ros2 pkg create --build-type ament_cmake pkg_visual --dependencies sensor_msgs geometry_msgs rclcpp OpenCV cv_bridge image_transport --node-name visual
ros2 pkg create --build-type ament_cmake pkg_visual --dependencies sensor_msgs geometry_msgs rclcpp OpenCV cv_bridge image_transport --node-name visual cnam DetectionCnam_codels
.. note::
parameters:
- dependencies : argument to declare dependencies
- dependencies : parameter to declare dependencies
- sensor_msgs : library to use sensor, in this tuto we'll use a camera
- geometry_msgs : library to use variables like vector or poses
- rclcpp : primary library, allow the use of ROS with c++
- OpenCV :
- cv_bridge
- image_transport
- node
- visual
- OpenCV : library allowing the exploitation of images
- cv_bridge : library bridging opencv and ros
- image_transport : Optimize and transport images
- node : parameter to create nodes
- visual : main node
- DetectionCnam_codels : ??? (à modifier)
Step 2 :
--------
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